US20110249088A1 - Systems and methods for monitoring radiation treatment - Google Patents
Systems and methods for monitoring radiation treatment Download PDFInfo
- Publication number
- US20110249088A1 US20110249088A1 US12/868,357 US86835710A US2011249088A1 US 20110249088 A1 US20110249088 A1 US 20110249088A1 US 86835710 A US86835710 A US 86835710A US 2011249088 A1 US2011249088 A1 US 2011249088A1
- Authority
- US
- United States
- Prior art keywords
- radiation
- machine
- patient
- overlaying
- graphic
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000011282 treatment Methods 0.000 title claims abstract description 73
- 230000005855 radiation Effects 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000012544 monitoring process Methods 0.000 title claims abstract description 9
- 230000033001 locomotion Effects 0.000 claims abstract description 59
- 238000003384 imaging method Methods 0.000 claims description 22
- 238000001514 detection method Methods 0.000 description 3
- 238000001959 radiotherapy Methods 0.000 description 3
- 206010028980 Neoplasm Diseases 0.000 description 2
- 238000004590 computer program Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 238000007408 cone-beam computed tomography Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000003550 marker Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000000241 respiratory effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B5/00—Measuring for diagnostic purposes; Identification of persons
- A61B5/06—Devices, other than using radiation, for detecting or locating foreign bodies ; determining position of probes within or on the body of the patient
- A61B5/065—Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
- A61B5/066—Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B6/00—Apparatus or devices for radiation diagnosis; Apparatus or devices for radiation diagnosis combined with radiation therapy equipment
- A61B6/04—Positioning of patients; Tiltable beds or the like
- A61B6/0487—Motor-assisted positioning
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61N—ELECTROTHERAPY; MAGNETOTHERAPY; RADIATION THERAPY; ULTRASOUND THERAPY
- A61N5/00—Radiation therapy
- A61N5/10—X-ray therapy; Gamma-ray therapy; Particle-irradiation therapy
- A61N5/1048—Monitoring, verifying, controlling systems and methods
- A61N5/1049—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam
- A61N2005/1059—Monitoring, verifying, controlling systems and methods for verifying the position of the patient with respect to the radiation beam using cameras imaging the patient
Definitions
- This invention relates in general to the field of radiation treatment, and in particular, to improvement of physical safety of patients during treatment delivery.
- Radiation therapy has become increasingly complex in recent years, and remote automation is becoming the norm. Preventing collision between the patient and radiation machine is a key safety aspect and becoming increasingly important. For instance, during radiation delivery inside a treatment room a linear accelerator may rotate around a patient at close clearance to the patient, especially if the patient is large. It would be desirable to have a system and method that can provide clearance information to a radiotherapist who remotely controls the operation outside the treatment room. It would be desirable to have a system and method that can provide information on both current clearance at real time and upcoming clearance in a predictive manner to help the therapist monitor the treatment and prevent collision between the patient and radiation machine.
- the present invention provides a live view system that allows a radiotherapist to clearly see clearances between a patient and a radiation machine from outside the treatment room.
- a video camera may be mounted in the treatment room directed to at least a portion of the patient.
- the video camera may be coupled to a computer which may be configured to overlay graphics on the video images from the camera and display the images overlaid with graphics on a treatment screen outside the treatment room to help the radiotherapist monitor the clearances.
- the overlaid graphics may indicate the movement of the treatment room equipment such as the gantry, imagers, and couch, and their proximity to each other and the patient. Appropriate graphics or notations may be used to show planned movement and/or current movement, or if desired past movement in conjunction with a replay.
- directional arrows and other means may be used to indicate motion.
- the directional arrows may be colored to indicate different types of motion.
- a transparent virtual LINAC showing arrows and components that have tight clearance may be displayed as this may provide a good view of the patient while providing clear indications of potential movement and tight clearance between the patient and equipment.
- the live view system of the invention allows a radiotherapist to clearly see the machine/patient clearances within the field of view of the therapist.
- the live view system also allows a therapist to see the direction the equipment will move while maintaining a clear view of the patient and the treatment parameters.
- the live view system may have a virtual model of the equipment.
- the virtual model may include the geometry of the equipment placed on coordinate systems.
- the system can show tight clearances to the operator by determining the likely clearances based on the outside surfaces of the virtual model.
- the virtual model can be used in a predictive manner to determine upcoming clearances.
- the virtual model can be used in a real-time manner to determine current clearances.
- the system may use the position of the actual equipment to high precision using various feedback devices.
- the system knows the planned motions based on the electronic treatment instructions.
- the system can overlay directional arrows, which show the direction of the next move, over the correct locations of the actual machine by using the virtual model. If there are no close clearances, the system may show only the virtual arrow layer over the live video. If there are tight clearances then the system can also show elements of the virtual machine over the live video feed.
- FIG. 1 is a schematic diagram illustrating a radiation system in accordance with some embodiments of the invention.
- FIG. 2 is an illustration of an exemplary console area in accordance with some embodiments of the invention.
- FIGS. 3-4 are exemplary screenshots of video images overlaid with graphics indicating directions of movement of a radiation machine in accordance with some embodiments of the invention.
- graphics refers to any symbol of any design, pattern, color, or the like that can be overlaid on a video feed, and may include either pictorial and/or text images.
- transparent refers to a property of a graphic overlaid on a video feed that allows light to transmit therethrough so that images beyond or behind the graphic can be distinctly seen.
- FIG. 1 illustrates a treatment room 102 and a console area 202 outside the treatment room.
- the treatment room 102 contains a radiation machine 104 which may include a stand 106 , a gantry 108 , a collimation assembly 110 , a couch 112 , and optionally one or more imaging systems 114 .
- the stand 106 may contain components that produce high levels of radio-frequency energy for generating beams. It may also house a water distribution system, a gas pressurizing system, and additional power supplies.
- the gantry 108 may contain a radiotherapy beam delivery system, which may include a linear accelerator, a bend magnet, an ion chamber, and other beam generation, monitoring, and adjustment devices.
- the gantry 108 may also support one or more imager arms 113 supporting one or more imaging systems 114 .
- the collimation assembly 110 at the end of the gantry 108 may include a built-in collimator that controls the overall size of the radiation beam, and a multileaf collimator (MLC) that provides fine adjustments to the size and shape of the beam. Collimator accessories may be attached to the collimation assembly 110 to help shape the beam based on a treatment plan.
- the imaging systems 114 when included allow verification of patient positioning and patient treatment delivery.
- the imaging systems 114 may include an MV imaging system and a kV imaging system.
- the MV imaging system may include an MV image detector that can be extended from the base of the gantry 108 .
- the MV image detector may acquire data from beams generated through the accelerator.
- the kV imaging system may include a kV source and a kV image detector mounted on the sides of the gantry 108 .
- the images acquired by the imaging systems 114 may be displayed on a display 212 in the console area 202 and compared with reference images created during simulation and treatment planning sessions. The patient's position may be adjusted based on the acquired images before delivering the treatment.
- the patient couch 112 may be equipped with various mechanisms that allow precise positioning of the patient for imaging and treatment.
- the couch 112 may translate and rotate in three dimensions.
- a modulator cabinet 114 which may be located in the treatment room 102 or in a separate room, may contain components that transform hospital power into the high-voltage electricity the radiation system 104 may require. While not shown in FIG. 1 , a plurality of feedback devices may be mounted on the machine components to provide information of positions of various machine components or motion axes.
- the treatment room 102 may contain one or more cameras to perform various monitoring functions.
- a camera 116 may be mounted in the treatment room 102 to aim at the patient or at least a portion of the patient.
- the camera 116 may provide video images of at least a portion of the patient and/or the couch, and at least a portion of the radiation machine.
- the camera 116 may be coupled to a computer 206 , which may overlay graphics on the images from the camera 116 to provide additional information such as the direction or speed of movement of the machine or collision alert etc.
- the images overlaid with graphics may appear on a display 210 in the console area 202 to allow a radiotherapist to watch the patient closely at all times during the treatment.
- the camera 116 may be referred to as the live view camera.
- One or more additional cameras 118 may be mounted in the treatment room 102 to provide view of clearance along both sides of the couch 112 .
- the one or more additional cameras 118 may be placed in a way that both the patient and the clearance between the machine and the patient can be monitored easily.
- the images from the cameras 118 may appear on one or more closed-circuit TV monitors 218 .
- the monitors 218 may be placed in the console area 202 in a way to be effective in monitoring clearances between the machine and the patient.
- a radiotherapist may use the video images from the cameras 118 to check clearances to avoid possible collisions.
- the cameras 118 may be referred to as motion view cameras.
- the treatment room 102 may also contain a respiratory gating camera 120 for monitoring the motion of a set of reflective markers placed on the patient.
- a respiratory gating camera 120 for monitoring the motion of a set of reflective markers placed on the patient.
- One or more in-room monitors 122 may be provided to display information such as the machine parameter information including planned and actual axis positions that a radiotherapist may need while inside the treatment room.
- the monitors 122 may be mounted e.g. side by side so that the radiotherapist can easily observe the data while still watching the patient.
- a control system 204 for controlling the operation of the radiation machine 104 may be placed outside the treatment room 102 .
- the control system 204 may include a computer comprising a memory and a processor such as a digital signal processor (DSP), a central processing unit (CPU), or a microprocessor ( ⁇ P), and may be operated by a computer software interface such as a graphical user interface (GUI).
- the memory may store treatment plan information and programs for operating the radiation machine 104 or various elements of the machine.
- the treatment plan may be created in a treatment planning session and may include information such as the nature of a tumor including the size, shape, and location of the tumor in the patient, the treatment dose to be delivered, and the position, angle, and/or movement of the treatment machine 104 with respect to the patient etc.
- the treatment plan information may be used by the computer 206 to overlay graphics on the video feed from the live view camera 116 to indicate additional information such as the direction of movement of the machine as will be described in greater detail below.
- the control system 204 may be provided with a proximity detection or collision protection program for collision detection, distance computation, and/or contact determination of the machine elements undergoing movement such as the rotating gantry and moving couch etc.
- a proximity detection or collision protection program for collision detection, distance computation, and/or contact determination of the machine elements undergoing movement such as the rotating gantry and moving couch etc.
- Various proximity detection programs known in the art may be used.
- the control system 204 may use the proximity detection program to compute collision alert information and provide it to the computer 206 , which in turn may overlay the collision alert information on the video feed from the live view camera 116 , as will be described in greater detail below.
- the computer 206 may be coupled to the live view camera 116 and configured to receive video feed from the live view camera 116 .
- the computer 206 may be provided with a treatment application program configured to display the video feed on a display 210 , overlay graphics on the video feed, or perform other graphical enhancement of the video images including adding graphics, deleting or modifying video images etc.
- the techniques for graphical enhancement of video images are known in the art and their detail description is omitted in order to focus on the description of the invention.
- the computer 206 may be provided with a 3-D model of the radiation machine 104 .
- the 3-D model of the machine 104 may be created using various computer programs known in the art.
- the dimensions of the machine 104 may be measured and the positions of the machine components determined in a coordinate system.
- a coordinate system may be first established using the isocenter as the origin and the beam direction as the z-axis.
- the machine 104 or machine elements such as the patient couch 112 , rotating gantry 108 , and imagers 114 etc. may be measured in the coordinate system, providing the x, y, and z values for numerous data points of the machine or machine elements.
- the dimension and position data of the machine 104 in the coordinate system may then be provided to a computer program to create a 3-D model of the machine.
- the elements of the 3-D model may be preconfigured in configuration files and the geometry of each machine element may be defined e.g. using virtual reality modeling language (VRML) or other suitable program languages.
- VRML virtual reality modeling language
- These files may be loaded to the computer 206 , which may create a 3-D view of the radiation machine 104 .
- the computer control 206 may be calibrated to identify the position and orientation of the live view camera 116 with respect to the radiation machine 104 .
- the calibration determines how the 3-D model of the radiation machine 104 may be displayed over the images from the live view camera 116 so that the two images can match up.
- a calibration target such as a positioning marker may be placed on the machine 104 such as on the patient couch 112 at the isocenter position.
- the couch 112 may then be moved to a number of known calibration positions.
- the position of the calibration target in the video image may be identified at each of the calibration positions and this information can be used to calculate the position of the live view camera 116 relative to the radiation machine 104 .
- the calibration results may be saved and the treatment application may use the results to determine the location and size of the 3-D model of the machine loaded in the computer 206 .
- Live view calibration may be performed initially when the system is setup and thereafter whenever the camera 116 is moved.
- the calibration results may be tightly bound to the camera angle and position, therefore a calibration procedure should be performed whenever the camera 116 is moved.
- a calibration wizard control may include a pop-up window that implements the calibration workflow. It may follow a wizard paradigm with individual screens that guide a user through each step of the calibration process.
- the live view calibration files may be updated.
- the computer control 206 may overlay graphics on the video feed from the live view camera 116 to indicate the direction of movement of the machine 104 including the movement of the gantry 108 , the couch 112 , and the imaging systems 114 etc.
- the graphics overlaid may indicate the direction of current movement of the machine 104 , or the direction of planned or upcoming movement of the machine 104 . If desired, the graphics may also indicate the past movement of the machine 104 in conjunction with a replay.
- the machine's current position may be determined using various feedback devices mounted on the machine 104 .
- the control system 204 may receive signals from the feedback devices, determine the current position of the machine, and provide the information to the computer 206 , which may in turn overlay graphics on top of the video images.
- the machine's upcoming movement direction may be calculated by the control system 204 using information of the machine's current position and planned position.
- the machine's planned position may be provided by the treatment plan which may be determined in a treatment planning session.
- the control system 204 may feed the calculated information to the computer 206 , which may then overlay graphics indicating the direction of the machine's upcoming movement on the video feed.
- the graphics indicating the direction of movement of the machine may allow a radiotherapist to quickly determine the correct area that it may need to watch, and thus help the radiotherapist monitor the clearance between the patient and the machine more easily.
- the graphic indicating the direction of machine movement may be in form of arrows or in any other appropriate shapes and forms, or in text.
- the directional arrows or other appropriate shapes, forms or text may be colored to indicate different types of machine motion.
- orange color may be used to show equipment before motion, and as it moves to target positions.
- Blue color may be used to show dynamic motion when an automated gantry move is performed such as for cone-beam computed tomography imaging or arc and automated treatments.
- Yellow color may be used to indicate that the moving equipment is approaching a possible collision with other equipment or the patient.
- Pink color may be used to indicate that the equipment is too close to other equipment or the patient, or collision is imminent, in which case motion stops.
- other means such as size, shape or other characteristic of graphical means can be used to indicate differing types of motion.
- the graphics overlaid on the video feed may be substantially transparent so that the video images behind or beyond the graphics can be distinctly seen.
- Transparent graphics may be advantageous in that they can provide a clear view of current positions of the patient and the machine while providing indications of potential movement of the machine or tight clearance between the patient and the machine.
- the computer control 206 may overlay graphics on the video images to indicate collision alert or collision detected information.
- the control system 204 may compute distances between the machine and the patient or between machine elements using information of actual positions of the machine detected through various feedback devices at real time. By way of example, if the computed distance is within a predetermined range the control system 204 may generate a collision alert. If the computed distance is equal to or less than a predetermined value the control system 204 may generate a collision detected.
- the collision alert or collision detected information may be provided to the computer 206 , which may then overlay a graphic on the video feed and display it on a display 210 .
- the graphic indicating the collision alert or collision detected may be in any suitable shapes, forms, text, and colors, with or without sounds. For example, yellow color may be used to indicate collision alert, and pink color may be used to indicate collision detected, in which case the machine motion may stop.
- the graphic may blink on a display 210 or may be accompanied with an emergency alarm to alert the radiotherapist.
- a transparent virtual 3-D model of the machine or a portion of the machine may be overlaid on the video feed to show the tight clearance between the patient and machine.
- graphical means indicating the velocity of the machine can be added.
- graphical means may be added to indicate timing or order of various motions, including by adding notations, such as numerals indicating order, or timers providing total time of motion, countdown until beginning of motion, or time remaining for a particular movement.
- notations such as numerals indicating order, or timers providing total time of motion, countdown until beginning of motion, or time remaining for a particular movement.
- any of the foregoing means and the means described above for indicating different types of motion may be used for any of the parameters of interest.
- the console area 202 may include a control console 208 , a first display 210 for displaying treatment information (hereafter “treatment screen”), a second display 212 for displaying imaging information (hereafter “imaging screen”), and a keyboard 214 and a mouse 216 for input of commands and/or text by a user.
- treatment screen for displaying treatment information
- imaging screen for displaying imaging information
- keyboard 214 and a mouse 216 for input of commands and/or text by a user.
- One or more closed-circuit TV monitors 218 may be placed in a close proximity to the control console 208 .
- An exemplary overall layout of the console area is illustrated in FIG. 2 .
- the control console 208 contains buttons and keys that provide controls for the motion of the machine 104 , intercom, image acquisition, and treatment delivery.
- the control console 208 allows a radiotherapist to remotely move the radiation machine 104 including the gantry 108 , patient couch 112 and other equipment in the treatment room 102 .
- the control console 208 may include an emergency stop which when pressed may turn off the system in case of emergency.
- the control console 208 may include buttons for selection between MV and kV imagers.
- the treatment screen 210 may display patient data, treatment plan, beam parameters and eye view, and collimator settings etc.
- the video images from the live view camera 116 on which graphics of information may be overlaid according to the invention, may be displayed on the treatment screen 210 so that the video feed of the patient and the machine may be readily viewed along with treatment information in the console area 202 .
- FIGS. 3-4 are partial enlarged screenshots of video images displayed on the treatment screen 210 . In this example, directional arrows are overlaid on the video images to show direction of movement of the patient table.
- the imaging screen 212 which may be placed on a side of the treatment screen 210 , displays imaging parameters and patient images including reference images and acquired images. A radiotherapist may use the imaging screen to determine if the patient needs to be repositioned.
- the closed-circuit TV monitors 218 may be located in a close proximity to the treatment screen 210 so that a radiotherapist may readily view the images from the motion view cameras 118 in monitoring the clearance between the patient and the machine.
- a radiation treatment may involve complex motion of a couch that the patient is on and complex motion of a linear accelerator including a gantry and imaging arms etc.
- a therapist may move the couch, gantry, and imaging arms from inside the treatment room. During this time the therapist may have a good view of the clearances and collisions are unlikely.
- the therapist may leave the treatment room and view the clearance from closed-circuit TV cameras.
- imagers, and couch may move.
- the equipment may be moved to a second treatment position and again the gantry, imagers, and couch may move.
- a live view camera may be placed in the treatment room to provide a general view of the equipment and the patient.
- the video feed from the live view camera may be overlaid with graphics indicating the direction of current or upcoming movement of the machine.
- the video feed overlaid with graphics may be displayed on the treatment screen in the console area so that a therapist may monitor easily.
- Transparent virtual graphics such as directional arrows overlaid on the live video images provide a clear indication of motion without significantly covering up the video images of the patient.
- a clear view of the video images is important so it can keep an eye on the patient. The therapist needs to see the actual equipment in relation to the patient to check clearance.
- the minimal obstruction of the virtual arrows or other graphics assures a clear view of the patient.
- the machine speed may be automatically reduced and a live view screen region may show a virtual model layer of the elements(s) of the machine where the clearance is tighter than a pre-defined tolerance.
- These virtual elements can provide a clear indication for the therapist to where they need to look to closely watch clearance. If the clearance is too tight, the machine may prevent remote motion, i.e., motion outside the treatment room. In this situation, the therapist may enter the treatment room to complete the motion.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Radiology & Medical Imaging (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Pathology (AREA)
- Medical Informatics (AREA)
- Physics & Mathematics (AREA)
- Biophysics (AREA)
- Heart & Thoracic Surgery (AREA)
- Molecular Biology (AREA)
- Surgery (AREA)
- Human Computer Interaction (AREA)
- Gynecology & Obstetrics (AREA)
- High Energy & Nuclear Physics (AREA)
- Optics & Photonics (AREA)
- Radiation-Therapy Devices (AREA)
Abstract
Description
- This invention relates in general to the field of radiation treatment, and in particular, to improvement of physical safety of patients during treatment delivery.
- Radiation therapy has become increasingly complex in recent years, and remote automation is becoming the norm. Preventing collision between the patient and radiation machine is a key safety aspect and becoming increasingly important. For instance, during radiation delivery inside a treatment room a linear accelerator may rotate around a patient at close clearance to the patient, especially if the patient is large. It would be desirable to have a system and method that can provide clearance information to a radiotherapist who remotely controls the operation outside the treatment room. It would be desirable to have a system and method that can provide information on both current clearance at real time and upcoming clearance in a predictive manner to help the therapist monitor the treatment and prevent collision between the patient and radiation machine.
- The present invention provides a live view system that allows a radiotherapist to clearly see clearances between a patient and a radiation machine from outside the treatment room. A video camera may be mounted in the treatment room directed to at least a portion of the patient. The video camera may be coupled to a computer which may be configured to overlay graphics on the video images from the camera and display the images overlaid with graphics on a treatment screen outside the treatment room to help the radiotherapist monitor the clearances.
- The overlaid graphics may indicate the movement of the treatment room equipment such as the gantry, imagers, and couch, and their proximity to each other and the patient. Appropriate graphics or notations may be used to show planned movement and/or current movement, or if desired past movement in conjunction with a replay. In some embodiments directional arrows and other means may be used to indicate motion. The directional arrows may be colored to indicate different types of motion. In some embodiments a transparent virtual LINAC showing arrows and components that have tight clearance may be displayed as this may provide a good view of the patient while providing clear indications of potential movement and tight clearance between the patient and equipment. The live view system of the invention allows a radiotherapist to clearly see the machine/patient clearances within the field of view of the therapist. The live view system also allows a therapist to see the direction the equipment will move while maintaining a clear view of the patient and the treatment parameters.
- The live view system may have a virtual model of the equipment. The virtual model may include the geometry of the equipment placed on coordinate systems. The system can show tight clearances to the operator by determining the likely clearances based on the outside surfaces of the virtual model. In some embodiments the virtual model can be used in a predictive manner to determine upcoming clearances. In some embodiments the virtual model can be used in a real-time manner to determine current clearances.
- In the situation where the system is used to determine real-time clearances, the system may use the position of the actual equipment to high precision using various feedback devices. The system knows the planned motions based on the electronic treatment instructions. The system can overlay directional arrows, which show the direction of the next move, over the correct locations of the actual machine by using the virtual model. If there are no close clearances, the system may show only the virtual arrow layer over the live video. If there are tight clearances then the system can also show elements of the virtual machine over the live video feed.
- These and various other features and advantages will become better understood upon reading of the following detailed description in conjunction with the accompanying drawings and the appended claims provided below, where
FIG. 1 is a schematic diagram illustrating a radiation system in accordance with some embodiments of the invention; -
FIG. 2 is an illustration of an exemplary console area in accordance with some embodiments of the invention; and -
FIGS. 3-4 are exemplary screenshots of video images overlaid with graphics indicating directions of movement of a radiation machine in accordance with some embodiments of the invention. - Various embodiments of radiation systems and methods are described. It is to be understood that the invention is not limited to the particular embodiments described as such may, of course, vary. An aspect described in conjunction with a particular embodiment is not necessarily limited to that embodiment and can be practiced in any other embodiments. For instance, while various embodiments are described in connection with X-ray radiotherapy machines, it will be appreciated that the invention can also be practiced in other electromagnetic apparatuses and modalities. It is also to be understood that the terminology used herein is for the purpose of describing particular embodiments only, and is not intended to be limiting since the scope of the invention will be defined by the appended claims, along with the full scope of equivalents to which such claims are entitled. In addition, various embodiments are described with reference to the figures. It should be noted that the figures are intended to facilitate the description of specific embodiments and they are not intended as an exhaustive description or as a limitation on the scope of the invention.
- As used herein the term “graphic” refers to any symbol of any design, pattern, color, or the like that can be overlaid on a video feed, and may include either pictorial and/or text images.
- As used herein the term “transparent” refers to a property of a graphic overlaid on a video feed that allows light to transmit therethrough so that images beyond or behind the graphic can be distinctly seen.
-
FIG. 1 illustrates atreatment room 102 and aconsole area 202 outside the treatment room. Thetreatment room 102 contains aradiation machine 104 which may include astand 106, agantry 108, acollimation assembly 110, acouch 112, and optionally one ormore imaging systems 114. Thestand 106 may contain components that produce high levels of radio-frequency energy for generating beams. It may also house a water distribution system, a gas pressurizing system, and additional power supplies. Thegantry 108 may contain a radiotherapy beam delivery system, which may include a linear accelerator, a bend magnet, an ion chamber, and other beam generation, monitoring, and adjustment devices. Thegantry 108 may also support one ormore imager arms 113 supporting one ormore imaging systems 114. Thecollimation assembly 110 at the end of thegantry 108 may include a built-in collimator that controls the overall size of the radiation beam, and a multileaf collimator (MLC) that provides fine adjustments to the size and shape of the beam. Collimator accessories may be attached to thecollimation assembly 110 to help shape the beam based on a treatment plan. Theimaging systems 114 when included allow verification of patient positioning and patient treatment delivery. Theimaging systems 114 may include an MV imaging system and a kV imaging system. The MV imaging system may include an MV image detector that can be extended from the base of thegantry 108. The MV image detector may acquire data from beams generated through the accelerator. The kV imaging system may include a kV source and a kV image detector mounted on the sides of thegantry 108. The images acquired by theimaging systems 114 may be displayed on adisplay 212 in theconsole area 202 and compared with reference images created during simulation and treatment planning sessions. The patient's position may be adjusted based on the acquired images before delivering the treatment. Thepatient couch 112 may be equipped with various mechanisms that allow precise positioning of the patient for imaging and treatment. Thecouch 112 may translate and rotate in three dimensions. Amodulator cabinet 114, which may be located in thetreatment room 102 or in a separate room, may contain components that transform hospital power into the high-voltage electricity theradiation system 104 may require. While not shown inFIG. 1 , a plurality of feedback devices may be mounted on the machine components to provide information of positions of various machine components or motion axes. - The
treatment room 102 may contain one or more cameras to perform various monitoring functions. For example, acamera 116 may be mounted in thetreatment room 102 to aim at the patient or at least a portion of the patient. Thecamera 116 may provide video images of at least a portion of the patient and/or the couch, and at least a portion of the radiation machine. Thecamera 116 may be coupled to acomputer 206, which may overlay graphics on the images from thecamera 116 to provide additional information such as the direction or speed of movement of the machine or collision alert etc. The images overlaid with graphics may appear on adisplay 210 in theconsole area 202 to allow a radiotherapist to watch the patient closely at all times during the treatment. Hereafter thecamera 116 may be referred to as the live view camera. - One or more
additional cameras 118 may be mounted in thetreatment room 102 to provide view of clearance along both sides of thecouch 112. The one or moreadditional cameras 118 may be placed in a way that both the patient and the clearance between the machine and the patient can be monitored easily. The images from thecameras 118 may appear on one or more closed-circuit TV monitors 218. Themonitors 218 may be placed in theconsole area 202 in a way to be effective in monitoring clearances between the machine and the patient. A radiotherapist may use the video images from thecameras 118 to check clearances to avoid possible collisions. Hereafter thecameras 118 may be referred to as motion view cameras. - The
treatment room 102 may also contain arespiratory gating camera 120 for monitoring the motion of a set of reflective markers placed on the patient. One or more in-room monitors 122 may be provided to display information such as the machine parameter information including planned and actual axis positions that a radiotherapist may need while inside the treatment room. Themonitors 122 may be mounted e.g. side by side so that the radiotherapist can easily observe the data while still watching the patient. - A
control system 204 for controlling the operation of theradiation machine 104 may be placed outside thetreatment room 102. Thecontrol system 204 may include a computer comprising a memory and a processor such as a digital signal processor (DSP), a central processing unit (CPU), or a microprocessor (μP), and may be operated by a computer software interface such as a graphical user interface (GUI). The memory may store treatment plan information and programs for operating theradiation machine 104 or various elements of the machine. The treatment plan may be created in a treatment planning session and may include information such as the nature of a tumor including the size, shape, and location of the tumor in the patient, the treatment dose to be delivered, and the position, angle, and/or movement of thetreatment machine 104 with respect to the patient etc. The treatment plan information may be used by thecomputer 206 to overlay graphics on the video feed from thelive view camera 116 to indicate additional information such as the direction of movement of the machine as will be described in greater detail below. - The
control system 204 may be provided with a proximity detection or collision protection program for collision detection, distance computation, and/or contact determination of the machine elements undergoing movement such as the rotating gantry and moving couch etc. Various proximity detection programs known in the art may be used. Thecontrol system 204 may use the proximity detection program to compute collision alert information and provide it to thecomputer 206, which in turn may overlay the collision alert information on the video feed from thelive view camera 116, as will be described in greater detail below. - The
computer 206 may be coupled to thelive view camera 116 and configured to receive video feed from thelive view camera 116. Thecomputer 206 may be provided with a treatment application program configured to display the video feed on adisplay 210, overlay graphics on the video feed, or perform other graphical enhancement of the video images including adding graphics, deleting or modifying video images etc. The techniques for graphical enhancement of video images are known in the art and their detail description is omitted in order to focus on the description of the invention. - The
computer 206 may be provided with a 3-D model of theradiation machine 104. The 3-D model of themachine 104 may be created using various computer programs known in the art. In creating the 3-D model, the dimensions of themachine 104 may be measured and the positions of the machine components determined in a coordinate system. For example, a coordinate system may be first established using the isocenter as the origin and the beam direction as the z-axis. Themachine 104 or machine elements such as thepatient couch 112,rotating gantry 108, andimagers 114 etc. may be measured in the coordinate system, providing the x, y, and z values for numerous data points of the machine or machine elements. The dimension and position data of themachine 104 in the coordinate system may then be provided to a computer program to create a 3-D model of the machine. The elements of the 3-D model may be preconfigured in configuration files and the geometry of each machine element may be defined e.g. using virtual reality modeling language (VRML) or other suitable program languages. These files may be loaded to thecomputer 206, which may create a 3-D view of theradiation machine 104. - Prior to graphical enhancement the
computer control 206 may be calibrated to identify the position and orientation of thelive view camera 116 with respect to theradiation machine 104. The calibration determines how the 3-D model of theradiation machine 104 may be displayed over the images from thelive view camera 116 so that the two images can match up. To perform the live view calibration, a calibration target such as a positioning marker may be placed on themachine 104 such as on thepatient couch 112 at the isocenter position. Thecouch 112 may then be moved to a number of known calibration positions. The position of the calibration target in the video image may be identified at each of the calibration positions and this information can be used to calculate the position of thelive view camera 116 relative to theradiation machine 104. The calibration results may be saved and the treatment application may use the results to determine the location and size of the 3-D model of the machine loaded in thecomputer 206. Live view calibration may be performed initially when the system is setup and thereafter whenever thecamera 116 is moved. The calibration results may be tightly bound to the camera angle and position, therefore a calibration procedure should be performed whenever thecamera 116 is moved. A calibration wizard control may include a pop-up window that implements the calibration workflow. It may follow a wizard paradigm with individual screens that guide a user through each step of the calibration process. On successful calibration, the live view calibration files may be updated. - In some embodiments, the
computer control 206 may overlay graphics on the video feed from thelive view camera 116 to indicate the direction of movement of themachine 104 including the movement of thegantry 108, thecouch 112, and theimaging systems 114 etc. The graphics overlaid may indicate the direction of current movement of themachine 104, or the direction of planned or upcoming movement of themachine 104. If desired, the graphics may also indicate the past movement of themachine 104 in conjunction with a replay. The machine's current position may be determined using various feedback devices mounted on themachine 104. Thecontrol system 204 may receive signals from the feedback devices, determine the current position of the machine, and provide the information to thecomputer 206, which may in turn overlay graphics on top of the video images. The machine's upcoming movement direction may be calculated by thecontrol system 204 using information of the machine's current position and planned position. The machine's planned position may be provided by the treatment plan which may be determined in a treatment planning session. Thecontrol system 204 may feed the calculated information to thecomputer 206, which may then overlay graphics indicating the direction of the machine's upcoming movement on the video feed. The graphics indicating the direction of movement of the machine, either at real time or in a predicative manner, may allow a radiotherapist to quickly determine the correct area that it may need to watch, and thus help the radiotherapist monitor the clearance between the patient and the machine more easily. - The graphic indicating the direction of machine movement may be in form of arrows or in any other appropriate shapes and forms, or in text. The directional arrows or other appropriate shapes, forms or text may be colored to indicate different types of machine motion. By way of example, orange color may be used to show equipment before motion, and as it moves to target positions. Blue color may be used to show dynamic motion when an automated gantry move is performed such as for cone-beam computed tomography imaging or arc and automated treatments. Yellow color may be used to indicate that the moving equipment is approaching a possible collision with other equipment or the patient. Pink color may be used to indicate that the equipment is too close to other equipment or the patient, or collision is imminent, in which case motion stops. Instead of color, other means such as size, shape or other characteristic of graphical means can be used to indicate differing types of motion.
- In some embodiments the graphics overlaid on the video feed may be substantially transparent so that the video images behind or beyond the graphics can be distinctly seen. Transparent graphics may be advantageous in that they can provide a clear view of current positions of the patient and the machine while providing indications of potential movement of the machine or tight clearance between the patient and the machine.
- In some embodiments, the
computer control 206 may overlay graphics on the video images to indicate collision alert or collision detected information. Using a proximity detection program and a 3-D model of the machine, thecontrol system 204 may compute distances between the machine and the patient or between machine elements using information of actual positions of the machine detected through various feedback devices at real time. By way of example, if the computed distance is within a predetermined range thecontrol system 204 may generate a collision alert. If the computed distance is equal to or less than a predetermined value thecontrol system 204 may generate a collision detected. The collision alert or collision detected information may be provided to thecomputer 206, which may then overlay a graphic on the video feed and display it on adisplay 210. - The graphic indicating the collision alert or collision detected may be in any suitable shapes, forms, text, and colors, with or without sounds. For example, yellow color may be used to indicate collision alert, and pink color may be used to indicate collision detected, in which case the machine motion may stop. The graphic may blink on a
display 210 or may be accompanied with an emergency alarm to alert the radiotherapist. In some embodiments, a transparent virtual 3-D model of the machine or a portion of the machine may be overlaid on the video feed to show the tight clearance between the patient and machine. - Other different graphical schemes showing any other parameters of the machine or patient of interest may be overlaid on the video image. For example, graphical means indicating the velocity of the machine can be added. As another example, graphical means may be added to indicate timing or order of various motions, including by adding notations, such as numerals indicating order, or timers providing total time of motion, countdown until beginning of motion, or time remaining for a particular movement. In general, any of the foregoing means and the means described above for indicating different types of motion may be used for any of the parameters of interest.
- The
console area 202 may include acontrol console 208, afirst display 210 for displaying treatment information (hereafter “treatment screen”), asecond display 212 for displaying imaging information (hereafter “imaging screen”), and akeyboard 214 and amouse 216 for input of commands and/or text by a user. One or more closed-circuit TV monitors 218 may be placed in a close proximity to thecontrol console 208. An exemplary overall layout of the console area is illustrated inFIG. 2 . - The
control console 208 contains buttons and keys that provide controls for the motion of themachine 104, intercom, image acquisition, and treatment delivery. Thecontrol console 208 allows a radiotherapist to remotely move theradiation machine 104 including thegantry 108,patient couch 112 and other equipment in thetreatment room 102. Thecontrol console 208 may include an emergency stop which when pressed may turn off the system in case of emergency. In case that themachine 104 is equipped withimaging systems 114, thecontrol console 208 may include buttons for selection between MV and kV imagers. - The
treatment screen 210 may display patient data, treatment plan, beam parameters and eye view, and collimator settings etc. The video images from thelive view camera 116 on which graphics of information may be overlaid according to the invention, may be displayed on thetreatment screen 210 so that the video feed of the patient and the machine may be readily viewed along with treatment information in theconsole area 202.FIGS. 3-4 are partial enlarged screenshots of video images displayed on thetreatment screen 210. In this example, directional arrows are overlaid on the video images to show direction of movement of the patient table. - The
imaging screen 212, which may be placed on a side of thetreatment screen 210, displays imaging parameters and patient images including reference images and acquired images. A radiotherapist may use the imaging screen to determine if the patient needs to be repositioned. The closed-circuit TV monitors 218 may be located in a close proximity to thetreatment screen 210 so that a radiotherapist may readily view the images from themotion view cameras 118 in monitoring the clearance between the patient and the machine. - The system and method of the invention described above facilitates monitoring and thus helps prevent collision between the machine and the patient during radiation treatment. A radiation treatment may involve complex motion of a couch that the patient is on and complex motion of a linear accelerator including a gantry and imaging arms etc. Prior to treatment a therapist may move the couch, gantry, and imaging arms from inside the treatment room. During this time the therapist may have a good view of the clearances and collisions are unlikely. Just prior to the treatment the therapist may leave the treatment room and view the clearance from closed-circuit TV cameras. During the beam-on the gantry, imagers, and couch may move. After the first beam-on the therapist may move the equipment to a second treatment position and again the gantry, imagers, and couch may move. In both cases it would be desirable if the therapist knows the direction of motion of the gantry, imagers, or couch so that it can look at the correct area to monitor the clearance between the equipment and the patient. The live view system of the invention can be advantageously used for this purpose and other applications. A live view camera may be placed in the treatment room to provide a general view of the equipment and the patient. The video feed from the live view camera may be overlaid with graphics indicating the direction of current or upcoming movement of the machine. The video feed overlaid with graphics may be displayed on the treatment screen in the console area so that a therapist may monitor easily.
- Transparent virtual graphics such as directional arrows overlaid on the live video images provide a clear indication of motion without significantly covering up the video images of the patient. For a therapist, a clear view of the video images is important so it can keep an eye on the patient. The therapist needs to see the actual equipment in relation to the patient to check clearance. The minimal obstruction of the virtual arrows or other graphics assures a clear view of the patient. In the case where the clearance is tight the machine speed may be automatically reduced and a live view screen region may show a virtual model layer of the elements(s) of the machine where the clearance is tighter than a pre-defined tolerance. These virtual elements can provide a clear indication for the therapist to where they need to look to closely watch clearance. If the clearance is too tight, the machine may prevent remote motion, i.e., motion outside the treatment room. In this situation, the therapist may enter the treatment room to complete the motion.
- Those skilled in the art will appreciate that various other modifications may be made within the spirit and scope of the invention. All these or other variations and modifications are contemplated by the inventors and within the scope of the invention.
Claims (20)
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/868,357 US8730314B2 (en) | 2010-04-13 | 2010-08-25 | Systems and methods for monitoring radiation treatment |
EP11161610.8A EP2377576B1 (en) | 2010-04-13 | 2011-04-08 | Systems and methods for monitoring radiation treatment |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US32377210P | 2010-04-13 | 2010-04-13 | |
US12/868,357 US8730314B2 (en) | 2010-04-13 | 2010-08-25 | Systems and methods for monitoring radiation treatment |
Publications (2)
Publication Number | Publication Date |
---|---|
US20110249088A1 true US20110249088A1 (en) | 2011-10-13 |
US8730314B2 US8730314B2 (en) | 2014-05-20 |
Family
ID=44202149
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/868,357 Active 2032-06-01 US8730314B2 (en) | 2010-04-13 | 2010-08-25 | Systems and methods for monitoring radiation treatment |
Country Status (2)
Country | Link |
---|---|
US (1) | US8730314B2 (en) |
EP (1) | EP2377576B1 (en) |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110006214A1 (en) * | 2009-07-08 | 2011-01-13 | Boenig Marc-Oliver | Accelerator system and method for setting particle energy |
US20130258105A1 (en) * | 2012-03-30 | 2013-10-03 | New York University | Dynamic field monitoring system in intensity modulated radiotherapy beams |
US20130289796A1 (en) * | 2012-04-27 | 2013-10-31 | Per H. Bergfjord | Vision system for radiotherapy machine control |
US20140114113A1 (en) * | 2012-10-22 | 2014-04-24 | ProNova Solutions, LLC | Proton Treatment Location Projection System |
US20140144245A1 (en) * | 2012-11-23 | 2014-05-29 | Ge Medical Systems Global Technology Company, Llc | Planar high voltage transformer |
US8942348B2 (en) | 2012-02-09 | 2015-01-27 | Elekta, Ltd. | Methods and apparatus for providing accessories to a patient during radiation treatment |
WO2015017630A1 (en) * | 2013-07-31 | 2015-02-05 | The Uab Research Foundation | Predictive collision avoidance for radiotherapy |
US20150035942A1 (en) * | 2013-08-02 | 2015-02-05 | Varian Medical Systems, Inc. | Camera systems and methods for use in one or more areas in a medical facility |
US20150196780A1 (en) * | 2012-08-09 | 2015-07-16 | Koninklijke Philips N.V. | System and method for radiotherapeutic treatment |
JP2015157011A (en) * | 2014-02-25 | 2015-09-03 | 国立研究開発法人放射線医学総合研究所 | Radiation therapy equipment |
US20150265852A1 (en) * | 2012-10-12 | 2015-09-24 | Vision Rt Limited | Patient monitor |
WO2016140955A1 (en) * | 2015-03-05 | 2016-09-09 | The Regents Of The University Of California | Radiotherapy utilizing the entire 4pi solid angle |
US9492685B2 (en) | 2014-06-13 | 2016-11-15 | Infinitt Healthcare Co., Ltd. | Method and apparatus for controlling and monitoring position of radiation treatment system |
US20170133200A1 (en) * | 2015-11-11 | 2017-05-11 | Mitsubishi Electric Corporation | Particle beam irradiation apparatus |
US10668153B2 (en) | 2016-01-20 | 2020-06-02 | Fujidenolo Co. Ltd. | Boron neutron capture therapy system |
US10776534B2 (en) | 2016-03-31 | 2020-09-15 | Varian Medical Systems, Inc. | LINAC simulator |
US20220261013A1 (en) * | 2019-07-19 | 2022-08-18 | Elekta Limited | Collision avoidance in radiotherapy |
US11612361B2 (en) * | 2018-03-15 | 2023-03-28 | Ricoh Company, Ltd. | Information display system, information display device, and computer-readable recording medium |
Families Citing this family (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9561387B2 (en) | 2012-04-12 | 2017-02-07 | Unitversity of Florida Research Foundation, Inc. | Ambiguity-free optical tracking system |
BE1021541B1 (en) * | 2012-09-11 | 2015-12-11 | Ion Beam Applications S.A. | INSTALLATION OF HADRON-THERAPY COMPRISING AN IMAGING DEVICE |
US9616251B2 (en) * | 2014-07-25 | 2017-04-11 | Varian Medical Systems, Inc. | Imaging based calibration systems, devices, and methods |
US11471702B2 (en) * | 2016-12-23 | 2022-10-18 | Koninklijke Philips N.V. | Ray tracing for a detection and avoidance of collisions between radiotherapy devices and patient |
EP3501400B1 (en) * | 2017-12-20 | 2022-06-08 | Siemens Healthcare GmbH | Method and device for ensuring a correct positioning for a radiography receiver |
DE102017223440A1 (en) | 2017-12-20 | 2019-06-27 | Siemens Healthcare Gmbh | Method and device for ensuring correct positioning for a radiographic image |
Citations (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3720817A (en) * | 1970-11-27 | 1973-03-13 | Jarian Ass | Automated radiation therapy machine |
US4262306A (en) * | 1977-04-27 | 1981-04-14 | Karlheinz Renner | Method and apparatus for monitoring of positions of patients and/or radiation units |
US5446548A (en) * | 1993-10-08 | 1995-08-29 | Siemens Medical Systems, Inc. | Patient positioning and monitoring system |
US5485502A (en) * | 1994-07-26 | 1996-01-16 | Lunar Corporation | Radiographic gantry with software collision avoidance |
US5724400A (en) * | 1992-03-19 | 1998-03-03 | Wisconsin Alumni Research Foundation | Radiation therapy system with constrained rotational freedom |
US5727554A (en) * | 1996-09-19 | 1998-03-17 | University Of Pittsburgh Of The Commonwealth System Of Higher Education | Apparatus responsive to movement of a patient during treatment/diagnosis |
US5818902A (en) * | 1996-03-01 | 1998-10-06 | Elekta Ab | Intensity modulated arc therapy with dynamic multi-leaf collimation |
US6222544B1 (en) * | 1997-10-17 | 2001-04-24 | Siemens Medical Systems, Inc. | Graphical user interface for radiation therapy treatment apparatus |
US20020051513A1 (en) * | 2000-09-25 | 2002-05-02 | Andrei Pugachev | Method for selecting beam orientations in intensity modulated radiation therapy |
US6470207B1 (en) * | 1999-03-23 | 2002-10-22 | Surgical Navigation Technologies, Inc. | Navigational guidance via computer-assisted fluoroscopic imaging |
US6590477B1 (en) * | 1999-10-29 | 2003-07-08 | Fci Americas Technology, Inc. | Waveguides and backplane systems with at least one mode suppression gap |
US6662036B2 (en) * | 1991-01-28 | 2003-12-09 | Sherwood Services Ag | Surgical positioning system |
US6714841B1 (en) * | 1995-09-15 | 2004-03-30 | Computer Motion, Inc. | Head cursor control interface for an automated endoscope system for optimal positioning |
US20040081341A1 (en) * | 2002-07-18 | 2004-04-29 | Dieter Cherek | Method and arrangement for positioning a patient in a medical diagnosis or therapy device |
US20050065653A1 (en) * | 2003-09-02 | 2005-03-24 | Fanuc Ltd | Robot and robot operating method |
US7046765B2 (en) * | 2004-03-31 | 2006-05-16 | Accuray, Inc. | Radiosurgery x-ray system with collision avoidance subsystem |
US7116813B2 (en) * | 1999-05-10 | 2006-10-03 | Fuji Photo Film Co., Ltd. | Image processing method and apparatus |
US7199382B2 (en) * | 2003-08-12 | 2007-04-03 | Loma Linda University Medical Center | Patient alignment system with external measurement and object coordination for radiation therapy system |
US7217276B2 (en) * | 1999-04-20 | 2007-05-15 | Surgical Navigational Technologies, Inc. | Instrument guidance method and system for image guided surgery |
US20070182589A1 (en) * | 2003-05-27 | 2007-08-09 | Honeywell International Inc. | Obstacle Avoidance Situation Display Generator |
US20090067577A1 (en) * | 2003-08-12 | 2009-03-12 | Rigney Nickolas S | Patient alignment system with external measurement and object coordination for radiation therapy system |
US20090070936A1 (en) * | 2007-09-13 | 2009-03-19 | Henderson Toby D | Patient Positioner System |
US20090180589A1 (en) * | 2008-01-16 | 2009-07-16 | James Wang | Cardiac target tracking |
US7657304B2 (en) * | 2002-10-05 | 2010-02-02 | Varian Medical Systems, Inc. | Imaging device for radiation treatment applications |
US20100091948A1 (en) * | 2008-05-22 | 2010-04-15 | Vladimir Balakin | Patient immobilization and repositioning method and apparatus used in conjunction with charged particle cancer therapy |
US7741802B2 (en) * | 2005-12-20 | 2010-06-22 | Intuitive Surgical Operations, Inc. | Medical robotic system with programmably controlled constraints on error dynamics |
US7773788B2 (en) * | 2005-07-22 | 2010-08-10 | Tomotherapy Incorporated | Method and system for evaluating quality assurance criteria in delivery of a treatment plan |
US7835011B2 (en) * | 2006-01-20 | 2010-11-16 | General Electric Company | Systems and methods for determining a position of a support |
US7984715B2 (en) * | 2004-06-25 | 2011-07-26 | Loma Linda University Medical Center | Method and device for registration and immobilization |
US8002465B2 (en) * | 2007-11-19 | 2011-08-23 | Pyronia Medical Technologies, Inc. | Patient positioning system and methods for diagnostic radiology and radiotherapy |
US8223920B2 (en) * | 2004-12-10 | 2012-07-17 | Ion Beam Applications Sa | Patient positioning imaging device and method |
US8611983B2 (en) * | 2005-01-18 | 2013-12-17 | Philips Electronics Ltd | Method and apparatus for guiding an instrument to a target in the lung |
-
2010
- 2010-08-25 US US12/868,357 patent/US8730314B2/en active Active
-
2011
- 2011-04-08 EP EP11161610.8A patent/EP2377576B1/en active Active
Patent Citations (37)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3720817A (en) * | 1970-11-27 | 1973-03-13 | Jarian Ass | Automated radiation therapy machine |
US4262306A (en) * | 1977-04-27 | 1981-04-14 | Karlheinz Renner | Method and apparatus for monitoring of positions of patients and/or radiation units |
US6662036B2 (en) * | 1991-01-28 | 2003-12-09 | Sherwood Services Ag | Surgical positioning system |
US5724400A (en) * | 1992-03-19 | 1998-03-03 | Wisconsin Alumni Research Foundation | Radiation therapy system with constrained rotational freedom |
US5446548A (en) * | 1993-10-08 | 1995-08-29 | Siemens Medical Systems, Inc. | Patient positioning and monitoring system |
US5485502A (en) * | 1994-07-26 | 1996-01-16 | Lunar Corporation | Radiographic gantry with software collision avoidance |
US6714841B1 (en) * | 1995-09-15 | 2004-03-30 | Computer Motion, Inc. | Head cursor control interface for an automated endoscope system for optimal positioning |
US5818902A (en) * | 1996-03-01 | 1998-10-06 | Elekta Ab | Intensity modulated arc therapy with dynamic multi-leaf collimation |
US5727554A (en) * | 1996-09-19 | 1998-03-17 | University Of Pittsburgh Of The Commonwealth System Of Higher Education | Apparatus responsive to movement of a patient during treatment/diagnosis |
US6222544B1 (en) * | 1997-10-17 | 2001-04-24 | Siemens Medical Systems, Inc. | Graphical user interface for radiation therapy treatment apparatus |
US6470207B1 (en) * | 1999-03-23 | 2002-10-22 | Surgical Navigation Technologies, Inc. | Navigational guidance via computer-assisted fluoroscopic imaging |
US7996064B2 (en) * | 1999-03-23 | 2011-08-09 | Medtronic Navigation, Inc. | System and method for placing and determining an appropriately sized surgical implant |
US7217276B2 (en) * | 1999-04-20 | 2007-05-15 | Surgical Navigational Technologies, Inc. | Instrument guidance method and system for image guided surgery |
US7116813B2 (en) * | 1999-05-10 | 2006-10-03 | Fuji Photo Film Co., Ltd. | Image processing method and apparatus |
US6590477B1 (en) * | 1999-10-29 | 2003-07-08 | Fci Americas Technology, Inc. | Waveguides and backplane systems with at least one mode suppression gap |
US20020051513A1 (en) * | 2000-09-25 | 2002-05-02 | Andrei Pugachev | Method for selecting beam orientations in intensity modulated radiation therapy |
US20040081341A1 (en) * | 2002-07-18 | 2004-04-29 | Dieter Cherek | Method and arrangement for positioning a patient in a medical diagnosis or therapy device |
US7657304B2 (en) * | 2002-10-05 | 2010-02-02 | Varian Medical Systems, Inc. | Imaging device for radiation treatment applications |
US20070182589A1 (en) * | 2003-05-27 | 2007-08-09 | Honeywell International Inc. | Obstacle Avoidance Situation Display Generator |
US7199382B2 (en) * | 2003-08-12 | 2007-04-03 | Loma Linda University Medical Center | Patient alignment system with external measurement and object coordination for radiation therapy system |
US7446328B2 (en) * | 2003-08-12 | 2008-11-04 | Loma Linda University Medical Centre | Patient alignment system with external measurement and object coordination for radiation therapy system |
US20090067577A1 (en) * | 2003-08-12 | 2009-03-12 | Rigney Nickolas S | Patient alignment system with external measurement and object coordination for radiation therapy system |
US8184773B2 (en) * | 2003-08-12 | 2012-05-22 | Loma Linda University Medical Center | Path planning and collision avoidance for movement of instruments in a radiation therapy environment |
US8269195B2 (en) * | 2003-08-12 | 2012-09-18 | Loma Linda University Medical Center | Patient alignment system with external measurement and object coordination for radiation therapy system |
US20050065653A1 (en) * | 2003-09-02 | 2005-03-24 | Fanuc Ltd | Robot and robot operating method |
US7103145B2 (en) * | 2004-03-31 | 2006-09-05 | Accuray, Inc. | Radiosurgery x-ray system with collision avoidance subsystem |
US7046765B2 (en) * | 2004-03-31 | 2006-05-16 | Accuray, Inc. | Radiosurgery x-ray system with collision avoidance subsystem |
US7984715B2 (en) * | 2004-06-25 | 2011-07-26 | Loma Linda University Medical Center | Method and device for registration and immobilization |
US8223920B2 (en) * | 2004-12-10 | 2012-07-17 | Ion Beam Applications Sa | Patient positioning imaging device and method |
US8611983B2 (en) * | 2005-01-18 | 2013-12-17 | Philips Electronics Ltd | Method and apparatus for guiding an instrument to a target in the lung |
US7773788B2 (en) * | 2005-07-22 | 2010-08-10 | Tomotherapy Incorporated | Method and system for evaluating quality assurance criteria in delivery of a treatment plan |
US7741802B2 (en) * | 2005-12-20 | 2010-06-22 | Intuitive Surgical Operations, Inc. | Medical robotic system with programmably controlled constraints on error dynamics |
US7835011B2 (en) * | 2006-01-20 | 2010-11-16 | General Electric Company | Systems and methods for determining a position of a support |
US20090070936A1 (en) * | 2007-09-13 | 2009-03-19 | Henderson Toby D | Patient Positioner System |
US8002465B2 (en) * | 2007-11-19 | 2011-08-23 | Pyronia Medical Technologies, Inc. | Patient positioning system and methods for diagnostic radiology and radiotherapy |
US20090180589A1 (en) * | 2008-01-16 | 2009-07-16 | James Wang | Cardiac target tracking |
US20100091948A1 (en) * | 2008-05-22 | 2010-04-15 | Vladimir Balakin | Patient immobilization and repositioning method and apparatus used in conjunction with charged particle cancer therapy |
Non-Patent Citations (2)
Title |
---|
Bejczy et al. "The Phantom Robot: Predictive Displays for Teleoperation with Time Delay" (1990) Jet Propulsion Laboratory, California Institute of Technology. * |
McShan, D. L. et al. "Advanced Interactive Planning Techniques for Conformal Therapy: High Level Beam Descriptions and Volumetric Mapping Techniques." (1995) Int. J. Radiation Oncology Biol. Phys., Vol. 33, No. 5, pp. 1061-1072 * |
Cited By (34)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110006214A1 (en) * | 2009-07-08 | 2011-01-13 | Boenig Marc-Oliver | Accelerator system and method for setting particle energy |
US8942348B2 (en) | 2012-02-09 | 2015-01-27 | Elekta, Ltd. | Methods and apparatus for providing accessories to a patient during radiation treatment |
US20130258105A1 (en) * | 2012-03-30 | 2013-10-03 | New York University | Dynamic field monitoring system in intensity modulated radiotherapy beams |
US9486647B2 (en) * | 2012-04-27 | 2016-11-08 | Elekta Ab (Publ) | Vision system for radiotherapy machine control |
US9878179B2 (en) | 2012-04-27 | 2018-01-30 | Elekta Ab (Publ) | Vision system for radiotherapy machine control |
US20130289796A1 (en) * | 2012-04-27 | 2013-10-31 | Per H. Bergfjord | Vision system for radiotherapy machine control |
US10035026B2 (en) * | 2012-08-09 | 2018-07-31 | Koninklijke Philips N.V. | System and method for radiotherapeutic treatment |
US20150196780A1 (en) * | 2012-08-09 | 2015-07-16 | Koninklijke Philips N.V. | System and method for radiotherapeutic treatment |
US10183177B2 (en) * | 2012-10-12 | 2019-01-22 | Vision Rt Limited | Patient monitor |
JP2015531289A (en) * | 2012-10-12 | 2015-11-02 | ビジョン アールティ リミテッド | Patient monitoring device |
US11628313B2 (en) | 2012-10-12 | 2023-04-18 | Vision Rt Limited | Patient monitor |
US20150265852A1 (en) * | 2012-10-12 | 2015-09-24 | Vision Rt Limited | Patient monitor |
US10926109B2 (en) | 2012-10-12 | 2021-02-23 | Vision Rt Limited | Patient monitor |
WO2014066286A1 (en) * | 2012-10-22 | 2014-05-01 | ProNova Solutions, LLC | Proton treatment location projection system |
US9329462B2 (en) * | 2012-10-22 | 2016-05-03 | ProNova Solutions, LLC | Proton treatment location projection system |
US9550075B2 (en) | 2012-10-22 | 2017-01-24 | ProNova Solutions, LLC | Methods of projecting an image to aid proton therapy |
CN104955393A (en) * | 2012-10-22 | 2015-09-30 | 普罗诺瓦解决方案有限责任公司 | Proton treatment location projection system |
US20140114113A1 (en) * | 2012-10-22 | 2014-04-24 | ProNova Solutions, LLC | Proton Treatment Location Projection System |
US20140144245A1 (en) * | 2012-11-23 | 2014-05-29 | Ge Medical Systems Global Technology Company, Llc | Planar high voltage transformer |
EP3027114A1 (en) * | 2013-07-31 | 2016-06-08 | The UAB Research Foundation | Predictive collision avoidance for radiotherapy |
EP3027114A4 (en) * | 2013-07-31 | 2017-03-29 | The UAB Research Foundation | Predictive collision avoidance for radiotherapy |
WO2015017630A1 (en) * | 2013-07-31 | 2015-02-05 | The Uab Research Foundation | Predictive collision avoidance for radiotherapy |
US20150035942A1 (en) * | 2013-08-02 | 2015-02-05 | Varian Medical Systems, Inc. | Camera systems and methods for use in one or more areas in a medical facility |
US10493298B2 (en) * | 2013-08-02 | 2019-12-03 | Varian Medical Systems, Inc. | Camera systems and methods for use in one or more areas in a medical facility |
JP2015157011A (en) * | 2014-02-25 | 2015-09-03 | 国立研究開発法人放射線医学総合研究所 | Radiation therapy equipment |
US9492685B2 (en) | 2014-06-13 | 2016-11-15 | Infinitt Healthcare Co., Ltd. | Method and apparatus for controlling and monitoring position of radiation treatment system |
US10549116B2 (en) | 2015-03-05 | 2020-02-04 | The Regents Of The University Of California | Radiotherapy utilizing the entire 4PI solid angle |
WO2016140955A1 (en) * | 2015-03-05 | 2016-09-09 | The Regents Of The University Of California | Radiotherapy utilizing the entire 4pi solid angle |
US9847210B2 (en) * | 2015-11-11 | 2017-12-19 | Mitsubishi Electric Corporation | Particle beam irradiation apparatus for irradiating a subject with an arbitrary number of particles |
US20170133200A1 (en) * | 2015-11-11 | 2017-05-11 | Mitsubishi Electric Corporation | Particle beam irradiation apparatus |
US10668153B2 (en) | 2016-01-20 | 2020-06-02 | Fujidenolo Co. Ltd. | Boron neutron capture therapy system |
US10776534B2 (en) | 2016-03-31 | 2020-09-15 | Varian Medical Systems, Inc. | LINAC simulator |
US11612361B2 (en) * | 2018-03-15 | 2023-03-28 | Ricoh Company, Ltd. | Information display system, information display device, and computer-readable recording medium |
US20220261013A1 (en) * | 2019-07-19 | 2022-08-18 | Elekta Limited | Collision avoidance in radiotherapy |
Also Published As
Publication number | Publication date |
---|---|
US8730314B2 (en) | 2014-05-20 |
EP2377576B1 (en) | 2014-06-11 |
EP2377576A1 (en) | 2011-10-19 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8730314B2 (en) | Systems and methods for monitoring radiation treatment | |
US10493298B2 (en) | Camera systems and methods for use in one or more areas in a medical facility | |
US11024084B2 (en) | Systems and methods for providing medical information and for performing a medically-related process using augmented reality technology | |
US11273326B2 (en) | Radiotherapy system and treatment support apparatus | |
US10825251B2 (en) | Systems and methods for providing medical information and for performing a medically-related process using augmented reality technology | |
EP2159725B1 (en) | Patient setup error evaluation and error minimizing setup correction in association with radiotherapy treatment | |
US20160175617A1 (en) | Dynamic beam's eye view of proton therapy irradiation shown in anatomical context | |
US20120109608A1 (en) | Method and apparatus for selecting a tracking method to use in image guided treatment | |
CN107427691A (en) | Planning and control for the radiation therapy of guided by magnetic resonance | |
CN102549586A (en) | Systems and methods for obtaining reconstructed images during a treatment session | |
KR20170047215A (en) | System and computer program product for radiation inverse treatment planning | |
US11964171B2 (en) | Virtual beam's-eye view imaging in radiation therapy for patient setup | |
US20200405250A1 (en) | Projection mapping of radiation suites | |
JP2011172712A (en) | Treatment table positioning device for particle radiotherapy system | |
CN110381838A (en) | Use disposition target Sport Administration between the gradation of the view without view of volume imagery | |
CN116583325A (en) | Beam-off movement threshold in radiation therapy based on breath-hold level determination | |
CN103736208A (en) | Infrared locating automatic positioning system for radiotherapy | |
US20170296843A1 (en) | Processing device for a radiation therapy system | |
US10864383B2 (en) | Respiratory gating system | |
WO2020137234A1 (en) | Particle therapy system, dose distribution evaluation system, and method for operating particle therapy system | |
EP3060302B1 (en) | System for triggering an imaging process | |
JP6274481B2 (en) | Radiotherapy system, radiotherapy apparatus, and medical image processing apparatus | |
Talbot et al. | A method for patient set-up guidance in radiotherapy using augmented reality | |
JP7172850B2 (en) | positioning device | |
JP6380237B2 (en) | Radioscopy equipment |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: VARIAN MEDICAL SYSTEMS, INC., CALIFORNIA Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HANNIBAL, ROSS B.;CLIFT, JULIE;REEL/FRAME:024966/0008 Effective date: 20100825 |
|
STCF | Information on status: patent grant |
Free format text: PATENTED CASE |
|
MAFP | Maintenance fee payment |
Free format text: PAYMENT OF MAINTENANCE FEE, 4TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1551) Year of fee payment: 4 |
|
MAFP | Maintenance fee payment |
Free format text: PAYMENT OF MAINTENANCE FEE, 8TH YEAR, LARGE ENTITY (ORIGINAL EVENT CODE: M1552); ENTITY STATUS OF PATENT OWNER: LARGE ENTITY Year of fee payment: 8 |